Finger structure and full-drive robot palm

Abstract

The utility model relates to a mechanical hand technical field discloses a finger structure, and the finger includes first knuckle, second knuckle, third knuckle, is equipped with first transmission shaft, first power component in second knuckle, is equipped with second transmission shaft, second power component in third knuckle. A kind of full drive robot palm structure, including palm component, the end of palm component is equipped with at least three fingers, the side of palm component is equipped with a thumb, and palm component is equipped with side deviation drive component. The utility model has the beneficial effect that structure is compact stable, movement is more flexible, and degree of freedom is high.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a finger structure and a fully driven robot hand. Background Technology

[0002] In the field of robotics, the structure of a robot's hand plays a crucial role in the stability and flexibility of its grasping ability. Existing robot fingers are typically composed of knuckles connected by cables. The bending of the fingers is achieved by power pulling the cables at their ends. In this type of hand, each knuckle is controlled by a single power source, and individual knuckles cannot bend independently. Furthermore, the cables have a certain degree of elasticity, making it impossible to grasp heavy objects. For example, Chinese Patent No. 2019224375943, filed on December 30, 2019, discloses a robot hand with bendable fingers that uses motors, levers, and steel cables to synchronously control the movement of all fingers. However, this type of robot hand has relatively limited movement, cannot control the movement of individual finger knuckles, cannot perform complex grasping actions, and cannot meet the requirements for refined and complex movements. Moreover, the gripping force of the fingers is limited by the strength of the steel cables. Utility Model Content

[0003] In order to solve the above-mentioned problems in the prior art, this utility model provides a finger structure and a fully driven robot hand that is compact, stable, more flexible in movement, and has a high degree of freedom.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A finger structure includes a first phalanx, a second phalanx, and a third phalanx. The second phalanx contains a first drive shaft connected to the first phalanx and a first power assembly for driving the first drive shaft to rotate. The third phalanx contains a second drive shaft connected to the second phalanx and a second power assembly for driving the second drive shaft to rotate. Each phalanx in this finger structure has built-in power, allowing for independent bending. The structure is compact, stable, and highly maneuverable.

[0006] Preferably, the first drive shaft is rotatably connected to the second knuckle, and the first drive shaft rotates synchronously with the first knuckle and is detachably connected; the second drive shaft is rotatably connected to the third knuckle, and the second drive shaft rotates synchronously with the second knuckle and is detachably connected.

[0007] Preferably, the first drive shaft has limiting grooves at both ends, and connecting holes at the bottom of the limiting grooves. Connecting ears are provided on both sides of the lower end of the first finger joint. Each connecting ear has a through hole coaxially distributed with the first rotating shaft. A limiting strip is provided on the inner side of the connecting ear to engage with the limiting groove. The through hole and connecting hole are detachably connected by fasteners. The cooperation between the limiting strip and the limiting groove ensures no relative movement between the drive shaft and the connecting ear, while also satisfying the requirement for easy disassembly and assembly.

[0008] Preferably, the first power assembly includes a motor, a transmission component, and a transmission wheel. The transmission wheel is fixedly connected to a first transmission shaft, and the motor drives the transmission wheel to rotate through the transmission component. The structure of the second power assembly is the same as that of the first power assembly.

[0009] Preferably, the second phalanx comprises two interlocking second phalanx bodies, which are detachably connected; the third phalanx comprises two interlocking third phalanx bodies, which are detachably connected. This facilitates the disassembly and installation of the corresponding drive shaft, power components, etc., making maintenance and repair more convenient.

[0010] Preferably, the second phalanx body has a motor receiving groove, which contains a motor positioning groove. The motor has a motor positioning seat, which is snapped into the motor positioning groove. When the two halves of the second phalanx body are connected, the motor is held and limited by the motor positioning groove. This structure makes the installation and positioning of the motor more convenient.

[0011] Preferably, the connecting ear is offset towards the palm side of the first phalanx, and a relief groove is provided at the upper end of the second phalanx corresponding to the connecting ear. Offsetting the connecting ear towards the palm side and the relief groove prevent rotational interference, thereby allowing the first phalanx to bend at a greater angle.

[0012] A fully driven robot hand structure includes a hand assembly, the end of which is provided with at least three fingers, the side of which is provided with a thumb, and a lateral deflection drive assembly that drives the third phalanx to deflect laterally is provided on the hand assembly at a position corresponding to the lower end of the third phalanx.

[0013] By adopting the above technical solution, the first, second, and third phalanges of the fingers can be bent independently, and combined with the lateral deflection drive component, they can also drive the fingers to deflect laterally; together with the thumb, they can grasp objects, with a high degree of freedom and very flexible movement of the entire palm.

[0014] Preferably, the thumb includes a first thumb joint, a second thumb joint, and a joint base. The first thumb joint contains a third drive shaft connected to the second thumb joint and a third power assembly for driving the first thumb joint to rotate around the third drive shaft. The second thumb joint contains a fourth drive shaft connected to the joint base and a fourth power assembly for driving the second thumb joint to rotate around the fourth drive shaft. A thumb drive assembly for driving the joint base to rotate is provided between the joint base and the palm assembly. The thumb joints move flexibly, and the thumb drive mechanism allows the thumb to be used in conjunction with different fingers, offering high freedom of movement and convenient, flexible use.

[0015] Preferably, the third drive shaft is rotatably located at the lower end of the first thumb joint, and is detachably connected to the upper end of the second thumb joint; the fourth drive shaft is rotatably located at the lower end of the second thumb joint, and is detachably connected to the joint seat. This detachable connection makes overall installation, disassembly, and maintenance more convenient.

[0016] Preferably, the first thumb joint includes two interlocking first thumb joint bodies, which are detachably connected; the second thumb joint includes two interlocking second thumb joint bodies, which are detachably connected.

[0017] Preferably, the palm assembly has a front housing on one side of the palm and a rear housing on the back of the hand. The two sides of the third phalanx are rotatably connected to the front housing and the rear housing, respectively. The rotation axis of the third phalanx is perpendicular to the second transmission shaft. The lateral drive assembly includes a second motor and a drive gear connected to the second motor. The lower end of the third phalanx is provided with an arc-shaped rack that meshes with the drive gear.

[0018] Preferably, the thumb drive assembly includes a thumb connector, a fifth drive shaft rotatably connected to the thumb connector, and a fifth power assembly for driving the fifth drive shaft to rotate. The fifth drive shaft is detachably connected to the thumb connector, and the axis of the fifth drive shaft is perpendicular to the fourth drive shaft.

[0019] Therefore, this utility model has the advantages of compact and stable structure, more flexible movement, and high degree of freedom. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0021] Figure 2 for Figure 1 Another perspective view.

[0022] Figure 3 for Figure 1 Exploded view.

[0023] Figure 4 This is a partial exploded view of the finger.

[0024] Figure 5 This is an exploded view of the second phalanx.

[0025] Figure 6 This is a partial exploded view of the thumb.

[0026] Figure 7 This is an exploded view of the thumb-driven component.

[0027] Figure 8 for Figure 1 Another state diagram.

[0028] In the diagram: Hand assembly 1, front shell 11, rear shell 12;

[0029] Finger 2, First phalanx 21, Connecting ear 210, Through hole 211, Limiting strip 212, Second phalanx 22, Second phalanx body 220, First drive shaft 221, Limiting groove 2210, Connecting hole 2211, First power assembly 222, Motor 2220, Worm 2221, Worm wheel 2222, Motor positioning seat 2223, Motor receiving groove 223, Motor positioning groove 224, Relief groove 225;

[0030] Third phalanx 23, third phalanx body 230, second drive shaft 231, second power assembly 232;

[0031] Thumb 3, First thumb knuckle 31, First thumb knuckle body 310, Third drive shaft 311, Third power assembly 312, Second thumb knuckle 32, Second thumb knuckle body 320, Fourth drive shaft 321, Fourth power assembly 322, Knuckle seat 33;

[0032] Side bias drive assembly 4, second motor 40, drive gear 41, arc rack 42;

[0033] Thumb drive assembly 5, thumb connector 50, fifth drive shaft 51, fifth power assembly 52. Detailed Implementation

[0034] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.

[0035] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0036] like Figure 4 and Figure 5 The finger structure shown includes a first phalanx 21, a second phalanx 22, and a third phalanx 23. The second phalanx 22 is provided with a first drive shaft 221 connected to the first phalanx 21 and a first power component 222 for driving the first drive shaft 221 to rotate. The third phalanx 23 is provided with a second drive shaft 231 connected to the second phalanx 22 and a second power component 232 for driving the second drive shaft 231 to rotate.

[0037] The first drive shaft 221 is rotatably connected to the second finger joint 22, and the first drive shaft 221 and the first finger joint 21 rotate synchronously and are detachably connected; the second drive shaft 231 is rotatably connected to the third finger joint 23, and the second drive shaft 231 and the second finger joint 22 rotate synchronously and are detachably connected.

[0038] In some embodiments, the first drive shaft 221 has limiting grooves 2210 at both ends, and connecting holes 2211 at the bottom of the limiting grooves 2210. Connecting ears 210 are provided on both sides of the lower end of the first finger joint 21. Each connecting ear 210 has through holes 211 coaxially distributed with the first rotating shaft. A limiting strip 212 that engages with the limiting grooves 2210 is provided inside the connecting ear 210. The through holes and connecting holes 2211 are detachably connected by fasteners. The connecting holes 2211 are threaded holes, and bolts are used as fasteners.

[0039] like Figure 5 As shown, the first power assembly 222 includes a motor 2220, a transmission component 2221, and a transmission wheel 2222. The transmission wheel 2222 is fixedly connected to the first transmission shaft 221, and the motor 2220 drives the transmission wheel 2222 to rotate through the transmission component 2221. In some embodiments, the transmission component 2221 is configured as a worm gear, and the transmission wheel 2222 is configured as a worm wheel. The structures of the second power assembly 232, the third power assembly 312, and the fourth power assembly 322 are all the same as those of the first power assembly 222. Through the motor, worm gear, and worm wheel structure, the overall design is compact, has a large output torque, and is self-positioning. In some embodiments, the transmission wheel and transmission component can also be configured as a set of meshing bevel gears or bevel gears.

[0040] In some embodiments, the second phalanx 22 includes two interlocking second phalanx bodies 220, which are detachably connected; the third phalanx 23 includes two interlocking third phalanx bodies 230, which are detachably connected; the first thumb phalanx 31 includes two interlocking first thumb phalanx bodies 310, which are detachably connected; and the second thumb phalanx 32 includes two interlocking second thumb phalanx bodies 320, which are detachably connected.

[0041] The second phalanx body 220 is provided with a motor receiving groove 223, and the motor receiving groove 223 is provided with a motor positioning groove 224. The motor 2220 is provided with a motor positioning seat 2223, and the motor positioning seat 2223 is snapped into the motor positioning groove 224. When the two halves of the second phalanx body 220 are connected, the motor is held and limited by the motor positioning groove 224.

[0042] like Figure 8 As shown, to further increase the angle at which the fingers bend towards the palm, in some embodiments, the connecting lug 210 is biased towards the palm-facing side of the first phalanx 21, and a relief groove 225 is provided at the upper end of the second phalanx 22 corresponding to the connecting lug 210. This arrangement allows the fingers to achieve a greater bending angle, further providing flexibility.

[0043] like Figures 1-7 The illustrated hand structure of a fully driven robot includes a hand assembly 1, at least three fingers 2 at the end of the hand assembly 1, a thumb 3 on the side of the hand assembly 1, and a lateral deflection drive assembly 4 on the hand assembly 1 corresponding to the lower end of the third phalanx 23, which drives the third phalanx 23 to deflect laterally.

[0044] The thumb 3 includes a first thumb joint 31, a second thumb joint 32, and a joint base 33. The first thumb joint 31 is provided with a third drive shaft 311 connected to the second thumb joint 32 and a third power component 312 that drives the first thumb joint 31 to rotate around the third drive shaft 311. The second thumb joint 32 is provided with a fourth drive shaft 321 connected to the joint base and a fourth power component 322 that drives the second thumb joint 32 to rotate around the fourth drive shaft 321. A thumb drive component 5 that drives the joint base 33 to rotate is provided between the joint base and the palm component 1.

[0045] The third drive shaft 311 is rotatably disposed at the lower end of the first thumb knuckle 31, and the third drive shaft 311 is detachably connected to the upper end of the second thumb knuckle 32; the fourth drive shaft 321 is rotatably disposed at the lower end of the second thumb knuckle 32, and the fourth drive shaft 321 is detachably connected to the knuckle seat.

[0046] In this embodiment, the specific connection methods of the detachable connections at both ends of the second, third, and fourth drive shafts are the same as or equivalent to those of the first drive shaft. The positioning methods of the motors in the second power assembly 232, the third power assembly 312, and the fourth power assembly 322 are the same as those of the motors within the second phalanx body.

[0047] like Figure 3 As shown, the palm assembly 1 has a front housing 11 on one side of the palm and a rear housing 12 on the back of the hand. The two sides of the third phalanx 23 are rotatably connected to the front housing 11 and the rear housing 12, respectively. The rotation axis of the third phalanx 23 is perpendicular to the second transmission shaft 231. The lateral drive assembly 4 includes a second motor 40 and a drive gear 41 connected to the second motor 40. The lower end of the third phalanx 23 is provided with an arc-shaped rack 42 that meshes with the drive gear 41.

[0048] like Figure 6 and Figure 7 As shown, the thumb drive assembly 5 includes a thumb connector 50, a fifth drive shaft 51 rotatably connected to the thumb connector 50, and a fifth power assembly 52 driving the fifth drive shaft 51 to rotate. The fifth drive shaft 51 is detachably connected to the thumb connector, and the axis of the fifth drive shaft 51 is perpendicular to the fourth drive shaft 321. The structure of the fifth power assembly 52 is the same as that of the first power assembly.

[0049] The robot hand structure in this embodiment adopts a three-finger and one-thumb configuration. The knuckle components of each finger and thumb are rotated independently through power control. The first and second knuckles of the knuckle components can bend independently, and each finger can also bend laterally through the lateral drive component. The thumb can also rotate through the thumb drive component. The overall design has a high degree of freedom and is very flexible, adapting to various complex movements. Each power component adopts a worm gear structure, which is compact, has a large output torque, and can self-position, thereby making the robot hand grip stronger, more stable, and less prone to loosening.

[0050] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0051] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A finger structure, characterized in that, The finger (2) includes a first phalanx (21), a second phalanx (22), and a third phalanx (23). The second phalanx (22) is provided with a first drive shaft (221) connected to the first phalanx (21) and a first power component (222) that drives the first drive shaft (221) to rotate. The third phalanx (23) is provided with a second drive shaft (231) connected to the second phalanx (22) and a second power component (232) that drives the second drive shaft (231) to rotate.

2. The finger structure according to claim 1, characterized in that, The first drive shaft (221) is rotatably connected to the second finger joint (22), and the first drive shaft (221) and the first finger joint (21) rotate synchronously and are detachably connected; the second drive shaft (231) is rotatably connected to the third finger joint (23), and the second drive shaft (231) and the second finger joint (22) rotate synchronously and are detachably connected.

3. A finger structure according to claim 2, characterized in that, The first drive shaft (221) has a limiting groove (2210) at both ends, and a connecting hole (2211) at the bottom of the limiting groove (2210). The first finger joint (21) has connecting ears (210) on both sides of its lower end. The connecting ears (210) have through holes (211) that are coaxially distributed with the first rotating shaft. The inner side of the connecting ears (210) has a limiting strip (212) that engages with the limiting groove (2210). The through holes and the connecting holes (2211) are connected in a detachable manner by fasteners.

4. A finger structure according to claim 1, 2, or 3, characterized in that, The first power assembly (222) includes a motor (2220), a transmission component (2221), and a transmission wheel (2222). The transmission wheel (2222) is fixedly connected to the first transmission shaft (221). The motor (2220) drives the transmission wheel (2222) to rotate through the transmission component (2221). The structure of the second power assembly (232) is the same as that of the first power assembly (222).

5. A finger structure according to claim 4, characterized in that, The second phalanx (22) includes two interlocking second phalanx bodies (220), which are detachably connected; the third phalanx (23) includes two interlocking third phalanx bodies (230), which are detachably connected.

6. A finger structure according to claim 5, characterized in that, The second phalanx body (220) is provided with a motor receiving groove (223), the motor receiving groove (223) is provided with a motor positioning groove (224), the motor (2220) is provided with a motor positioning seat (2223), and the motor positioning seat (2223) is snapped into the motor positioning groove (224); when the two phalanx bodies (220) are connected, the motor (2220) is held and limited by the motor positioning groove (224).

7. A finger structure according to claim 3, characterized in that, The connecting ear (210) is biased towards the palm side of the first phalanx (21), and a relief groove (225) is provided at the upper end of the second phalanx (22) corresponding to the connecting ear (210).

8. A hand structure for a fully driven robot, characterized in that, The invention includes a palm assembly (1), the end of which is provided with at least three fingers (2) as described in any one of claims 1-7, a thumb (3) on the side of the palm assembly (1), and a lateral deflection drive assembly (4) on the palm assembly (1) corresponding to the lower end of the third phalanx (23) to drive the third phalanx (23) to deflect laterally.

9. The hand structure of a fully driven robot according to claim 8, characterized in that, The thumb (3) includes a first thumb joint (31), a second thumb joint (32), and a joint seat (33). The first thumb joint (31) is provided with a third drive shaft (311) connected to the second thumb joint (32) and a third power component (312) that drives the first thumb joint (31) to rotate around the third drive shaft (311). The second thumb joint (32) is provided with a fourth drive shaft (321) connected to the joint seat and a fourth power component (322) that drives the second thumb joint (32) to rotate around the fourth drive shaft (321). A thumb drive component (5) that drives the joint seat (33) to rotate is provided between the joint seat and the palm component (1).

10. The hand structure of a fully driven robot according to claim 9, characterized in that, The third drive shaft (311) is rotatably disposed at the lower end of the first thumb knuckle (31), and the third drive shaft (311) is detachably connected to the upper end of the second thumb knuckle (32); the fourth drive shaft (321) is rotatably disposed at the lower end of the second thumb knuckle (32), and the fourth drive shaft (321) is detachably connected to the knuckle seat.

11. The hand structure of a fully driven robot according to claim 9, characterized in that, The first thumb joint (31) includes two interlocking first thumb joint bodies (310), which are detachably connected; the second thumb joint (32) includes two interlocking second thumb joint bodies (320), which are detachably connected.

12. The hand structure of a fully driven robot according to claim 8, characterized in that, The palm assembly (1) has a front shell (11) on one side of the palm and a rear shell (12) on one side of the back of the hand. The two sides of the third phalanx (23) are rotatably connected to the front shell (11) and the rear shell (12) respectively. The rotation axis of the third phalanx (23) is perpendicular to the second transmission shaft (231). The side-clamping drive assembly (4) includes a second motor (40) and a drive gear (41) connected to the second motor (40). The lower end of the third finger joint (23) is provided with an arc-shaped rack (42) that meshes with the drive gear (41).

13. The hand structure of a fully driven robot according to claim 9, characterized in that, The thumb drive assembly (5) includes a thumb connector (50), a fifth drive shaft (51) rotatably connected to the thumb connector (50), and a fifth power assembly (52) that drives the fifth drive shaft (51) to rotate. The fifth drive shaft (51) is detachably connected to the thumb connector (50), and the axis of the fifth drive shaft (51) is perpendicular to the fourth drive shaft (321).

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